EP2952988A1 - Procédé de calcul d'une trajectoire optimisée - Google Patents

Procédé de calcul d'une trajectoire optimisée Download PDF

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Publication number
EP2952988A1
EP2952988A1 EP14170951.9A EP14170951A EP2952988A1 EP 2952988 A1 EP2952988 A1 EP 2952988A1 EP 14170951 A EP14170951 A EP 14170951A EP 2952988 A1 EP2952988 A1 EP 2952988A1
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EP
European Patent Office
Prior art keywords
trajectory
opt
component
parameter
holder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP14170951.9A
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German (de)
English (en)
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EP2952988B1 (fr
Inventor
Dr. Ulrich Wolfgang Lorenz
Stephan Schäufele
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Siemens AG
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Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to ES14170951T priority Critical patent/ES2825719T3/es
Priority to EP14170951.9A priority patent/EP2952988B1/fr
Priority to US14/728,538 priority patent/US9874868B2/en
Priority to ES15170497.0T priority patent/ES2664089T3/es
Priority to EP15170497.0A priority patent/EP2952989B1/fr
Priority to CN201510300978.4A priority patent/CN105278448B/zh
Publication of EP2952988A1 publication Critical patent/EP2952988A1/fr
Priority to CN201680032093.3A priority patent/CN107683440B/zh
Application granted granted Critical
Publication of EP2952988B1 publication Critical patent/EP2952988B1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/14—Control arrangements for mechanically-driven presses
    • B30B15/148—Electrical control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4069—Simulating machining process on screen
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32014—Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35009—Dynamic simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45142—Press-line
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to a method for calculating an optimized trajectory of a component. Furthermore, the invention relates to a computer program package for carrying out such a method. In addition, the invention relates to a control device that performs such a method, and a production machine, in particular a press, with such a controller.
  • Presses are widely used in industrial production for the machining of components, in particular of sheet metal, for example for the production of body parts in the automotive industry.
  • Production machines in particular presses, are usually equipped automatically.
  • the assembly of the production machine with a component is carried out by a holder, wherein the holder receives the component and introduces into the production machine.
  • the same holder or another holder takes out the component after passing through the production process in the production machine.
  • a suitable trajectory is required.
  • Such a trajectory must be created manually before the assembly of the press with the component regularly.
  • geometry parameters of the press and optionally further parameters are used as boundary conditions for calculating a trajectory by means of a simulation program. To improve a simulated trajectory, the trajectory has been changed by qualified personnel. An improvement of the trajectory is tedious and requires experienced and qualified personnel.
  • the object of the invention is therefore to provide a method for automated optimization of the calculation of a trajectory or trajectory.
  • the object is further achieved by a production machine, in particular a press, preferably a servo press, according to claim 12, wherein the production machine has a controller according to claim 11.
  • a production machine is understood to mean a press, in particular a servo press, a crimping apparatus, a processing machine and / or a packaging machine.
  • the invention can also be applied in a machine tool.
  • a production machine is assigned a transport device.
  • a component is understood to mean a metal sheet, a workpiece, a semi-finished product, a plastic part or a not yet finished product which is fed to a production machine in order to change its properties.
  • a component may in particular be a, preferably still to be formed, body part, for example of a motor vehicle. After changing the properties, preferably the shape of the component, the component is removed again from the production machine. For loading and / or for removal of the component, the transport device is provided.
  • a trajectory is understood to mean a spatial course of a holder and / or a component, in particular into the production machine or out of the production machine.
  • the trajectory further describes the spatial orientation of the component and / or the spatial orientation of the holder. It is also possible to transport a plurality of components by means of a holder and thus in the production machine or remove it from the production machine again.
  • a trajectory is a space curve, wherein individual points of the space curve are associated with other sizes, the space curve can be advantageously stored and stored in a file, the space points the locations of the holder and / or the component, alignment of the holder and / or the component exhibit.
  • the other sizes are e.g. the times and / or speeds associated with the individual points of the space curve.
  • a trajectory is advantageously representable and / or storable by discrete points, to which the further variables are optionally assigned, or by coefficients of a function, in particular development coefficients of a series representation of a function.
  • Development coefficients are coefficients which result from a previously defined series representation of the trajectory, for example a Taylor series, a Laurent series or a Fourier series of the trajectory.
  • the term "trajectory” denotes a first trajectory, a further trajectory or an optimized trajectory.
  • a first trajectory is understood to be a trajectory that has been created without a simulation or in a first simulation with the simulation program.
  • the first trajectory is adapted to boundary conditions in particular by means of a suitable computer program, such as a CAD program.
  • a first trajectory for example, manually generated and / or adjusted by means of a simulation program to boundary conditions.
  • the first trajectory is created, for example, such that a component just does not abut the edges of the production machine, if necessary, is introduced into the production machine with a slight change in orientation and / or is introduced into the production machine at a low speed or removed from the production machine becomes.
  • Another trajectory is a trajectory which has been changed by means of an optimization routine and / or with the aid of a simulation program. Another trajectory can be assigned a modified parameter. Another trajectory emerges from a first trajectory or another trajectory through a change.
  • An optimized trajectory is understood to be a trajectory which has been generated from an extreme parameter, for example a maximum achievable speed or a maximum achievable number of strokes, and possibly has been adapted to the boundary conditions.
  • An optimized trajectory usually results from another trajectory, which has been changed / optimized at least once. The adaptation to the boundary conditions takes place with the help of the simulation program.
  • An optimized trajectory distinguishes, for example, that along the extreme trajectory the component can be inserted particularly quickly into the production machine and / or removed from the production machine.
  • An optimized trajectory can also be distinguished by the fact that the time required for feeding the component into the production machine and / or for removing the component from the production machine and / or for transferring the component to another location is minimal.
  • An optimized trajectory can also characterize that the time duration which corresponds to the feeding of the component into the production machine and / or to the removal of the component from the production machine and / or to the transfer of the component to another location just the time that the production machine for a cycle at a maximum operating speed needed.
  • the shape of an optimized trajectory may depend on the speed with which the component and / or the holder the trajectory goes through.
  • the component is attached to the holder.
  • the shape of the trajectory and / or the advantageous orientation of the component and / or the holder may therefore change because loads on the component and / or the holder due to acceleration of the same form and / or position of the component and / or the holder change by force.
  • Boundary conditions are based on the dimensions and sizes of the production machine, the component and / or the holder, as well as possibly to be maintained safety distances from the component to the surface of the production machine.
  • Boundary conditions can be formulated as areas in the room into which the component must not penetrate.
  • Boundary conditions can also be areas in which the first trajectory, the further trajectories and the optimized trajectory can be changed.
  • the boundary conditions are formulated as maximum and minimum parameters between which the (changed) parameters may move. There may be dependencies of the maximum and minimum values of the (changed) parameters with values of other (modified) parameters. The trajectories then advantageously run in areas which are defined by the minimum and / or maximum values of the (changed) parameters.
  • the boundary conditions are dependent on the time.
  • Boundary conditions can also include maximum rotational speeds of motors, maximum stroke rates of the press, maximum acceleration of the component and / or the holder, minimum throughput times as well as movement-dependent deformations of the holder and / or the component.
  • a parameter is an optimizable quantity, or a set of optimizable quantities, which is / are a property of a trajectory executed above.
  • One parameter may be a speed at which a fixture and / or component traverses the trajectory, a cycle time, and / or a stroke rate in a press.
  • the parameter or the components of the parameter as well as the changed parameter or the components of the changed parameter can be advantageously arranged.
  • the number of components of the parameter or the changed parameter are advantageously oriented to the trajectory and can vary from trajectory to trajectory.
  • An altered parameter is understood to mean a parameter which results from a further trajectory and / or which has been changed, in particular by the optimization routine. Based on another parameter, another trajectory is created using a suitable procedure.
  • the changed parameter may be a number or a number tuple resulting from the first trajectory and / or a further trajectory and resulting from a calculation rule of the optimization routine.
  • a calculation rule is, for example, a genetic algorithm, a generic algorithm, a calculation method based on a neural network, or a calculation method based on a given sequence of numbers.
  • the changed parameter is advantageously determined by means of the optimization routine according to a calculation rule explained above.
  • An extremal value is a parameter that represents a maximum, a minimum or an optimum in comparison with a number of changed parameters.
  • an extremal value is a maximum speed or a maximum number of strokes or a minimum achievable time duration.
  • a predetermined value is therefore a predetermined maximum speed of a holder or a maximum executable number of strokes of the production machine, preferably the press.
  • An optimization routine is a calculation rule which calculates from an incoming trajectory, for example a further trajectory, a further trajectory or an optimized trajectory.
  • the further trajectory created by means of the optimization routine is fed to the simulation program.
  • An optimization routine can also be written as a script, for example a shell script. So an existing simulation program does not necessarily have to be changed.
  • An optimization routine can also be present as a stand-alone program, as a script, as an add-on and / or preferably as a subroutine of the simulation program.
  • the optimization routine loads the first trajectory or the further trajectory from a memory. From a first trajectory a parameter is determined. From the further trajectory a changed parameter is determined. By means of a calculation rule, the parameter or the changed parameter is changed.
  • the calculation rule advantageously has as input variables the trajectories already created in previous runs and / or the already calculated (changed) parameters. With these input variables by means of the calculation rule a (new) modified parameter and / or another trajectory calculated. When calculating a changed parameter, the further trajectory can be generated from the changed parameter. The further trajectory is then either stored and / or fed to the simulation program.
  • the optimization routine generates several further trajectories, wherein either one of the further trajectories is selected for transmission to the simulation program or the simulation program carries out a simulation for a plurality of further trajectories and then transmits the further trajectory back to the optimization routine, which is determined by the simulation on most suitable. From a plurality of trajectories, a further trajectory can also be selected, which is transmitted to the simulation program. Furthermore, the majority of the trajectories can also be adapted to the boundary conditions with the aid of the simulation program and a selection subsequently made. Such a designed method is used for example in a genetic algorithm. Most suitable is that of the other trajectories to which the extreme parameter is assigned.
  • only a selection of the calculated changed trajectories, preferably the changed trajectory (s) with the best changed parameters (n), are transmitted to the simulation program.
  • the simulation program simulates an introduction and / or a removal of the component in the production machine. It is checked on the basis of the boundary conditions, whether the first trajectory or created by the optimization routine further trajectory meets the boundary conditions. If the further trajectory does not satisfy the boundary conditions, the trajectory is slightly changed and / or transmitted to the optimization routine with a corresponding attribute. If the further trajectory satisfies the boundary conditions, it becomes a further modification / optimization to the optimization routine transfer. If the optimized trajectory satisfies the boundary conditions, it is stored with an attribute and / or transmitted to the control device in the form of coefficients and / or function values.
  • a simulation program can also calculate, based on boundary conditions, a trajectory for a building part, so that the component can be introduced at a fixed speed machine.
  • the simulation program can be part of an optimization routine.
  • the boundary conditions used here are the shape and dimensions of the at least one component, the shape and dimensions of the production machine, in particular the pressing tools. The boundary conditions ensure a collision-free assembly of the production machine with the at least one component
  • a control device of a production machine is used to convert the optimized trajectory into a movement of the holder for equipping the associated production machine.
  • the control device is advantageously connected to a computing unit via a technical data connection, for example a USB connection or a network connection, to a computing unit on which the simulation program and possibly the optimization routine are installed.
  • Such a calculation method is advantageous due to the improved calculation of an optimized trajectory.
  • an extreme trajectory can be found according to the invention that even a skilled person skilled in the art would not have been able to find by manual means.
  • time-dependent extreme trajectories can also be found by the method described here.
  • the first trajectory, the further trajectory and the optimized trajectory as a component on a time or is dependent on time.
  • the first trajectory, the further trajectory and the optimized trajectory are referred to as a trajectory, if a trajectory is meant, whose properties share all the trajectories listed here.
  • a trajectory may depend directly on time. Then a course of the component is directly dependent on the time. This is the case, for example, if a component traverses a trajectory during a run in a different time, such as a component which is traversed along a time-trajectory. Also, within a portion of the trajectory, the time taken for the fixture and / or component to make that portion of the trajectory may be different than the time it takes for the fixture and / or component to have the same but different portion of the trajectory. Thus, it may be necessary to reduce the speed of trajectory travel in a region where the trajectory is highly curved.
  • the time can be an absolute time, a periodically recurring period of time or a proper time of the holder.
  • trajectory may also depend on parameters that are themselves time-dependent.
  • the formal representation of the temporal dependence of the trajectory depends advantageously on the design of the optimization routine and / or the simulation program.
  • the size and shape of the component, the size and shape of the production machine, the size and shape of the holder go as boundary conditions and / or a deformation of the component and / or the holder.
  • Boundary conditions serve the simulation program to avoid a collision of the holder and / or the component with the production machine, in particular one of the pressing tools of a press. If the production machine has moving parts which can collide with the holder and / or the component, the boundary conditions are advantageously dependent on the time. Boundary conditions can also be understood as limitations of the movements of the holder and / or the component and / or the shape of the trajectory. Due to the time dependence of the boundary conditions, the space of the possible trajectories is increased.
  • the first trajectory, the further trajectory and the optimized trajectory is a function of the location of the component and / or the holder, the orientation of the component and / or the holder and / or time.
  • the orientation of the holder and / or the component is understood to be the (space) angle which the component and / or the holder assume towards the vertical.
  • the location is the point at which a fixed point of the bracket and / or the component are in space.
  • the set of points of space traversed by the specified part of the fixture or component can be defined as a trajectory.
  • further dependencies such as the throughput speed or the acceleration of the component and / or the holder, can be included in the description of the trajectory.
  • the trajectory may be indicated by a multiplicity of points in a space or by coefficients of a fixed function (a space curve).
  • a particularly accurate and flexible description of the trajectory is possible in the presentation of points.
  • the trajectory is represented by coefficients, a particularly compact representation of the trajectory is possible.
  • the trajectories are made particularly advantageous in both representations.
  • a large number of control devices can accommodate and further process the trajectories, that is, use them to control the assembly of the production machine.
  • the optimized trajectory is transmitted as function values and / or as coefficients to a control device.
  • the control device is used to control the electrical machines, wherein equipped with the help of the electric machines, the production machine, or is emptied again.
  • a control device can be, for example, a motor controller for controlling a plurality of matched motors, for example a SIMATIC or a SINUMEKIK from Siemens AG.
  • the parameter and the changed parameter are at least one speed, wherein the extremal value is a maximum speed.
  • the parameter or the changed parameter is calculated in the optimization routine from a first trajectory and / or a further trajectory.
  • a parameter or a modified parameter is derived in the trajectory assigned to the optimization routine.
  • the parameter is then changed.
  • the further trajectory is determined or calculated from the changed parameter.
  • the parameter or the changed parameter is a measure of the degree of optimization of the (further) trajectory.
  • the parameter approximates an extreme parameter or a predetermined parameter. When the extreme parameter or parameter is reached by the other one Parameter is the trajectory, which has emerged from the extremal or predetermined parameter optimized.
  • a (modified) parameter may be a speed, a number of strokes or a minimum distance of the component and / or the holder to the production machine.
  • An extreme parameter can be a maximum speed, so that the holder and / or the component traverses the trajectory in as short a time as possible.
  • the parameter or the changed parameter can also represent a number of strokes, in particular a press, or a number of passes.
  • the above-executed method automatically runs after the selection of at least one option, in particular by clicking on a button.
  • the computer program package is advantageously used for carrying out the above-described method, wherein the simulation program already exists at least as part of the computer program package.
  • the optimization routine can advantageously be integrated into the simulation program.
  • the method described above can be advantageously selected as a menu item.
  • the start can be generated by means of a button. For example, when clicking on such a button, the method is started and runs until the trajectory has become an optimized trajectory. Subsequently, the optimized trajectory in the above-described forms is transmitted to the control unit.
  • FIG. 1 shows a press 1 (or another production machine 1) and a component 9.
  • the component 9 is located between the lower tool 5 and the upper tool 3.
  • the component 9 is with the holder 7 on an optimized trajectory T opt in the press. 1 , ie introduced between the lower tool 5 and the upper tool 3.
  • T opt in the press 1
  • the component 9 is processed by means of the lower tool 5 and with the aid of the upper tool 3.
  • the component 9 is received by the holder 7 and conveyed out of the press 1 or the production machine 1.
  • care must be taken that the component 9 does not collide uncontrollably with the press 1.
  • the holder 7 moves with the component 9 on a predetermined and / or optimized trajectory T_opt.
  • FIG. 2 shows a holder 7 with a component 9.
  • the component 9 is detachably connected to the holder 9.
  • the holder 7 together with the component 9 extends on the optimized trajectory T_opt.
  • the component 9 and the holder 7 have the spatial orientation Phi.
  • the spatial orientation Phi of the component 9 and / or the holder 7 can change during the course along the trajectory T_opt.
  • the component 9 is advantageously detachably connected to the holder 7.
  • the component 9 can also be changed by means of the holder 7 in its orientation Phi in comparison to the orientation of the holder 7.
  • FIG. 3 shows a production machine 1 and a trajectory T_opt.
  • components 9 are picked up by the holder 7 and conveyed along the trajectory T_opt into the production machine 1.
  • the component 9 and the holder 7 run along the trajectory T_opt.
  • the component 9 is aligned with the aid of the holder in its orientation Phi_2.
  • the component 9 and the holder 7 have a speed v.
  • the speed is advantageously a function of the time t and / or the position or orientation Phi of the component.
  • the component 9 is inserted from the holder 7 into the production machine 1, in particular into the lower tool 5 of the production machine 1. In the production machine 1, the component 9 is processed with the upper tool 3.
  • upper tool 3 is used here a drill 3 or a part of a milling machine 3.
  • the holder 7 picks up the component 9 again at time t3 and guides it out of the production machine 1 along an optimized trajectory T_opt.
  • the component 9 is on the way to a new station.
  • the component has a speed v.
  • the component 9 and the holder 7 have an orientation Phi_2.
  • the component 9 and the holder 7 have an orientation Phi_4.
  • the velocity v represents a parameter v, v ', which significantly influences the speed of production.
  • the orientation of the workpiece 9 and / or the holder 7 at any time is predetermined by the orientation Phi.
  • FIG. 4 shows a holder 7 and a component 9.
  • the component 9 is held by the holder 7 at time t2 at a certain point in space T_opt (t2) and runs along the optimized trajectory T_opt the limited by the boundary conditions RB area is indicated by the hatching.
  • the trajectory T, T_opt can run between the dashed lines.
  • the figure shows the holder 7 and the component 9 at time t2 with an orientation Phi_2 and to another time t4 with a different orientation Phi_4.
  • the component 9 is fixed and rigidly connected to the holder 7.
  • the orientation Phi of the component 9 is determined at least partially by the holder 7, ie, the holder 7 has an orientation Phi_2, Phi_4 at a time t2, t4 and the component 9 occupies a different orientation Phi in space , wherein the orientation Phi of the holder 7 and which differs in a rigid support 7 of the component 9 by the holder 7 of the common orientation Phi at the times t 1 and t 2 .
  • FIG. 5 shows a scheme for calculating an optimized trajectory T_opt. Shown is a computer unit 13, for example a personal computer 13, on which the simulation program S is installed and runs. The calculation of the optimized trajectory T_opt is carried out with the aid of the simulation program S and / or the optimization routine Opt. Furthermore, the optimization routine Opt is also installed on the computing unit 13. Although the optimization routine Opt can be part of the simulation program S, the optimization routine Opt is shown separately from the simulation program S.
  • the method starts with specifying a first trajectory T1, for example manually by a user.
  • the first trajectory T1 may also have been created by specifications of the user with the simulation program S.
  • boundary conditions RB are specified, whereby the boundary conditions RB can advantageously also have been determined from CAD drawings of the production machine 1, of the at least one component 9 and optionally of further variables by means of the simulation program S.
  • the determination of a parameter v takes place here, advantageously by the simulation program S. It is also possible to determine the parameter v with the aid of the optimization routine Opt.
  • the optimization routine Opt is in an advantageous A representation of the trajectory T (a1, a2, ...) provided, for example, a series representation.
  • the individual coefficients a 1 are increased a i + ⁇ a i or reduced a i - ⁇ a i .
  • an altered trajectory T (a 1 ⁇ ⁇ a 1 , a 2 ⁇ ⁇ a 2 ,...) Is created.
  • the modified trajectory T (a 1 ⁇ ⁇ a 1 , a 2 ⁇ ⁇ a 2 , ...) is again normalized to the first trajectory T (a 1 , a 2 , ).
  • the changed trajectory Tw T (a 1 ⁇ ⁇ a 1 , a 2 ⁇ ⁇ a 2 ,...) Is then transmitted to the simulation program S.
  • the simulation program directs the changed / further trajectory Tw such that the boundary conditions RB are observed.
  • the simulation program S is able to compare the further trajectory Tw on the basis of its new properties with the preceding trajectory T.
  • the parameter vi, vi + 1, v, v ' serves as a comparative scale.
  • the change is the trajectory T, Tw as a step in the right direction towards the shape of the optimized trajectory T_opt.
  • the loop described above is run through until the changes ⁇ ai of the changed parameter vi, vi + 1 after passing through the loops fall below a predetermined value or as soon as the changed parameter falls below a predetermined range.
  • the trajectory T and the further trajectory can be transmitted between the simulation program S and the optimization routine Opt in the form of parameters v, v + 1, as trajectories T, Tw and / or in the form of coefficients a1, a2,.
  • the optimized trajectory T opt obtained in the last pass of the loop is transmitted to the control device 11 when the extreme parameter v_ex is reached in the form of coefficients a 1 , a 2 ,.
  • the control device 11 controls the equipping of the production machine 1 with components, in particular by the controller 11 of the traversed optimized trajectory T_opt of the holder 7 for the component 9.
  • FIG. 6 shows a scheme for calculating another trajectory Tw.
  • a scheme of the first pass of the loop for calculating the optimized trajectory T1 is disclosed.
  • Starting from a first trajectory T1 it is ensured with the aid of the simulation program S whether the first trajectory T1 fulfills the boundary conditions RB. If the boundary conditions RB are not fulfilled by the first trajectory T1, the first trajectory T1 is adapted with the aid of the simulation program S.
  • the first trajectory T1 is then transmitted to the optimization routine Opt.
  • a parameter v is determined from the first trajectory T1 (and / or another trajectory Tw).
  • the parameter v is changed into an altered parameter v 'with the aid of the optimization routine Opt.
  • a further trajectory Tw is generated.
  • the further trajectory Tw is transmitted to the simulation program S.
  • the further trajectory is adapted to the boundary conditions RB.
  • the optimization routine Opt generating a parameter v in the further trajectory Tw.
  • the parameter v is converted into an altered parameter v 'with the aid of the optimization routine Opt.
  • the help of at least the changed parameter v 'another trajectory Tw is created.
  • the optimized trajectory T_opt can be derived from the further trajectory Tw. If necessary, this will be checked again on the boundary conditions RB. The optimized trajectory is then provided to the control device 11 production machine 1.
  • the presented method can be advantageously used in particular for carrying out a so-called press-line simulation.
  • the simulation program is used to display a simulation scenario.
  • Examples of a simulation scenario is the establishment of a press 1 or a production machine 1 or a collision analysis.
  • the change of the parameters v, v 'takes place advantageously taking into account a transfer curve (trajectory T, further trajectory Tw, or optimized trajectory T_opt).
  • Results of a method presented here are, for example, a collision report, a parts list of the components 9 to be transported with the holder 7, a list of the programming values and / or a simulation video or an image sequence.
  • a solver is preferably an open source software that contains a general optimization algorithm and can be adapted to the particular case. Such an adaptation advantageously takes place in specification of parameters of all kinds, values that influence the solver, as well as by adding own program codes to this solver software. An addition can also be made in a so-called software add-on.
  • Trajectories T, T1, Tw, T_opt are often referred to as transfer curves or transport curves. These are continuously adapted during the simulation with the aid of the simulation program S, possibly with the aid of an optimization routine Opt presented here, until an optimum is achieved.
  • a method described here after the establishment of the production facility, which has a production machine 1 take place. During operation of the production plant, only a slight tuning of the optimized trajectory then takes place.
  • Advantageous parameters for the parameters or for the boundary conditions are the distance values to be maintained between component 9 / holder 7 and the other elements (such as production machine 1).
  • Other parameters are also advantageously oriented to the orientation (rotational values) of the component 9, start times ti, t and / or end times ti, t of the component 9 and / or the holder 7 during the passage along the (optimized) trajectory T, Tw, T_opt ,

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EP14170951.9A 2014-06-03 2014-06-03 Procédé de calcul d'une trajectoire optimisée Active EP2952988B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
ES14170951T ES2825719T3 (es) 2014-06-03 2014-06-03 Procedimiento para calcular una trayectoria optimizada
EP14170951.9A EP2952988B1 (fr) 2014-06-03 2014-06-03 Procédé de calcul d'une trajectoire optimisée
US14/728,538 US9874868B2 (en) 2014-06-03 2015-06-02 Method for calculating an optimized trajectory
EP15170497.0A EP2952989B1 (fr) 2014-06-03 2015-06-03 Procédé de calcul d'une trajectoire optimisée
ES15170497.0T ES2664089T3 (es) 2014-06-03 2015-06-03 Procedimiento para calcular una trayectoria optimizada
CN201510300978.4A CN105278448B (zh) 2014-06-03 2015-06-03 计算优化的轨迹的方法、执行方法的控制装置和生产机器
CN201680032093.3A CN107683440B (zh) 2014-06-03 2016-06-01 计算优化轨迹的方法

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WO2020078784A1 (fr) * 2018-10-15 2020-04-23 Schuler Pressen Gmbh Procédé de contrôle de l'accessibilité pour un transfert

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CN106325208B (zh) * 2016-08-29 2018-09-11 北京航空航天大学 一种控制切削力和切削温度的刀具轨迹优化方法
CN106313047B (zh) * 2016-09-28 2018-08-21 华中科技大学 一种基于Bezier样条的机器人实时拐角过渡方法
US11747793B2 (en) 2018-01-22 2023-09-05 Siemens Aktiengesellschaft Skill matching for control of an industrial production machine
DE102018008815A1 (de) * 2018-11-09 2020-05-14 Focke & Co. (Gmbh & Co. Kg) Verfahren zum Erkennen und/oder Vermeiden von Kollisionen von Maschinenorganen einer Verpackungsmaschine
DE102018133058A1 (de) * 2018-12-20 2020-06-25 Beckhoff Automation Gmbh Verfahren zum steuern eines automatisierungsprozesses in echtzeit
DE102019117092A1 (de) * 2019-06-25 2020-12-31 Kiefel Gmbh Produktionsmaschine mit steuerungsprogramm
US12061845B2 (en) 2019-11-11 2024-08-13 Rockwell Automation Technologies, Inc. Creation of a digital twin from a mechanical model
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WO2020078784A1 (fr) * 2018-10-15 2020-04-23 Schuler Pressen Gmbh Procédé de contrôle de l'accessibilité pour un transfert

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CN105278448B (zh) 2019-02-15
EP2952989A1 (fr) 2015-12-09
ES2825719T3 (es) 2021-05-17
CN105278448A (zh) 2016-01-27
EP2952988B1 (fr) 2020-07-29
EP2952989B1 (fr) 2018-02-21
US20150343733A1 (en) 2015-12-03
ES2664089T3 (es) 2018-04-18
US9874868B2 (en) 2018-01-23
CN107683440A (zh) 2018-02-09
CN107683440B (zh) 2019-02-19

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